Visual Servoing of Cable-Driven Parallel Robots with Tension Management - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2021

Visual Servoing of Cable-Driven Parallel Robots with Tension Management


Cable-driven parallel robots (CDPRs) are a type of parallel robots, where cables are used instead of rigid links. This leads to many advantages, such as large workspace, low mass in motion and simple reconfiguration. The drawbacks are accuracy issues and complex cable management. Indeed, it is usual that cables become slack. That can be caused by, for example, cable mass, uncertainties in the system, and a higher number of cables than the number of degrees of freedom of the moving-platform. This reduces CDPR stiffness and degree of actuation. While visual servoing provides good accuracy and is robust to different perturbations in the system and to modeling errors, it does not deal with cable slackness. Thus, a CDPR with visual servoing can become underactuated due to cable slack. We propose in this paper to enrich visual servoing with a tension correction algorithm. Experimental results show reduction of slackness and thus avoiding slacknessrelated trajectory perturbations and loss of stability.
Fichier principal
Vignette du fichier
ICRA2021_Zake_Chaumette_Pedemonte_Caro.pdf (2.94 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03182190 , version 1 (26-03-2021)


  • HAL Id : hal-03182190 , version 1


Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Visual Servoing of Cable-Driven Parallel Robots with Tension Management. ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi'an, China. pp.6861-6867. ⟨hal-03182190⟩
182 View
201 Download


Gmail Mastodon Facebook X LinkedIn More